Machine tool with tool changer

ABSTRACT

4. In a machine tool having a tool change station; A TOOL CHANGE MECHANISM PROVIDED WITH EXTENSIBLE TOOL GRIPPING MEANS CARRIED FOR BODILY MOVEMENT IN THE TOOL CHANGE STATION; A TOOL STORAGE MATRIX ADAPTED TO CARRY A PLURALITY OF CUTTING TOOLS; POWER OPERABLE MEANS CONNECTED TO MOVE SAID STORAGE MATRIX FOR MOVING A PRESELECTED TOOL INTO SAID TOOL CHANGE STATION; POSITIVE DRIVE MEANS AFFIXED TO THE PRESELECTED TOOL STORED IN SAID CHANGE STATION; A POWER DRIVEN ROTATABLE TOOL SPINDLE PROVIDED WITH COMPLEMENTARY POSITIVE DRIVING MEANS AND BEING CARRIED FOR BODILY MOVEMENT RELATIVE TO THE TOOL CHANGE STATION; POWER DRIVEN MEANS CONNECTED TO EFFECT BODILY MOVEMENT OF SAID TOOL SPINDLE INTO PROXIMITY TO THE TOOL CHANGE STATION AND INTO PREDETERMINED SPACED RELATIONSHIP TO THE PRESELECTED TOOL; MEANS FOR ROTATING SAID TOOL SPINDLE TO A PREDETERMINED ANGULAR POSITION TO FACILITATE INSERTION OF A PRESELECTED TOOL CARRYING THE POSITIVE DRIVING MEANS; A RELEASABLE CLAMP MECHANISM CARRIED BY THE TOOL RECEIVING END OF SAID TOOL SPINDLE; A CONTROL MECHANISM INCLUDING POWER DRIVING MEANS CONNECTED TO ACTUATE SAID GRIPPING MEANS FOR EXTENSIBLE MOVEMENT INTO CLAMPING ENGAGEMENT WITH THE PRESELECTED TOOL CARRIED BY SAID MATRIX, SAID CONTROL MEANS BEING OPERATIVE AFTER THE TOOL IS CLAMPED TO EFFECT BODILY MOVEMENT OF SAID TOOL CHANGE MECHANISM FOR WITHDRAWING THE PRESELECTED TOOL CARRIED THEREBY FROM SAID STORAGE MATRIX TO EFFECT BODILY MOVEMENT OF THE PRESELECTED TOOL INTO A POSITION OF AXIAL ALIGNMENT WITH SAID TOOL SPINDLE, AND TO EFFECT BODILY INSERTION OF THE PRESELECTED TOOL INTO THE TOOL RECEIVING END OF SAID SPINDLE, SAID CONTROL MECHANISM BEING THEN OPERATIVE TO RELEASE SAID GRIPPING MEANS TO INACTIVE POSITION; AND MEANS FOR ACTUATING SAID CLAMP MECHANISM FOR SECURING THE PRESELECTED TOOL IN SAID SPINDLE IN A MANNER THAT THE POSITIVE DRIVING MEANS RESPECTIVELY CARRIED BY SAID TOOL AND SAID SPINDLE ARE IN POSITIVE INTERMESHING ENGAGEMENT.

United States Patent Sedgwick et al.

A MACHINE TOOL WITH TOOL CHANGER [72] Inventors: Robert K. Sedgwick, Waukesha, Wis.; Werner K.' Behrendt, Bielefeld, Germany; Hans J. Baechle, Rockford, Ill.

[73] Assignee: Kearney & Trecker Corporation,

West Allis, Wis.

[22] Filed: March 13, 1962 [2]] Appl. No.: 181,226 7 Related US. Application Data [63] Continuation of Ser. No. 50,495, Aug. 18, 1960,

abandoned.

[52] US. Cl. ..29/568, 214/] BD [51] Int. Cl. ..B23q 3/157 [58] Field of Search ..29/568, 26 A [56] References Cited UNITED STATES PATENTS 3,052,011 9/1962 Brainard et al ..29/568 2,901,927 9/1959 Morgan ..29/568X A Primary ExaminerAndrew R. Juhasz Assistant ExaminerZ. R. Bilinsky Att0meyCyril M. Hajewski and Donald E. Porter EXEMPLARY CLAIM 4. In a machine tool having a tool change station;

a tool change mechanism provided with extensible tool gripping means carried for bodily movement in the tool change station;

a tool storage matrix adapted to carry a plurality of cutting tools;

all

ll lll power operable means connected to move said storage matrix for moving a preselected tool into said tool change station;

positive drive means affixed to the preselected tool stored in said change station;

a power driven rotatable tool spindle provided with complementary positive driving means and being carried for bodily movement relative to the tool change station;

power driven means connected to effect bodily movement of said tool spindle into proximity to the tool change station and into predetermined spaced relationship to the preselected tool;

means for rotating said tool spindle to a predetermined angular position to facilitate insertion of a preselected tool carrying the positive driving means;

a releasable clamp mechanism carried by the tool receiving end of said tool spindle;

a control mechanism including power driving means connected to actuate said gripping means for extensible movement into clamping engagement with the preselected tool carried by said matrix, said control means being operative after the tool is clamped to effect bodily movement of said tool change mechanism for withdrawing the preselected tool carried thereby from said storage matrix to effect bodily movement of the preselected tool into a position of axial alignment with said tool spindle, and to effect bodily insertion of the preselected tool'into the tool receiving end of said spindle, said control mechanism being then operative to release said gripping means to inactive position;

and means for actuating said clamp mechanism for securing the preselected tool in said spindle in a manner that the positive driving means respectively carried by said tool and said spindle are in positive intermeshing engagement.

37 Claims, 26 Drawing Figures PNENTED DEC 5 I972 sum 01 or 11 z fiM Mira 2 m Mg 7 f m 55%; HZ kw? m B.

PATENTEDHEB 19 2 SHEET UZUF 11 PATENTED uEc 5 I972 sum 08 0F 11 PATENTEDIIEI: 5l972 3.704.510

l /2 ain INVENTORS )F'aZerZ 7K 5eaigzdz'ck Z/erzer 1f Feiraxdf PATENTEDuEc 51922 SHEET ll 0 BEE] Matarze MACHINE TOOL WITH TOOL CHANGER This is a continuation of our co-pending patent application, Ser. No. 50,495, filed Aug. 18, 1960, for a Machine Tool With Tool Changer, now abandoned.

This invention relates generally to machine tools, and, more particularly, to a machine tool incorporating an improved tool change mechanism.

The principal object of this invention is to provide an improved tool changing mechanism for a machine tool.

Another object of the invention is to provide a tool storage member particularly adapted to storing tools of relatively large diameter, and being adapted to selectively move a preselected tool into a tool change ready station with the tool being carried in predetermined angular relationship to the machine tool spindle.

Another object of the invention is to provide an improved tool change mechanism operative to interchange tools between a storage drum and a tool spindle in such a manner that positive intermeshing driving means are connected between the interchanged tool and the tool spindle.

Another object of the invention is to provide a selectively movable tool storage member provided with a plurality of tool storage sockets respectively having releasable tool securing means, and means for retaining the tools carried thereby in predetermined relative angular relationship.

Another object of the invention is to provide a simplified tool changing mechanism operative to bodily withdraw a tool from a tool receiving spindle, and insert a different preselected tool into the spindle fora subsequent machining operation.

Another object of the invention is to provide an improved mechanism for interchanging tools between a storage drum and a tool spindle, the tool being interchanged and the spindle socket being respectively provided with an interengaging key and keyway.

Another object of the invention is to provide an improved tool changing mechanism having various operatively interconnected parts carried for independent relative adjustment.

A further object of the invention is to provide an improved tool changing mechanism operative to interchange tools of relatively large diameter.

A further object of the invention is to provide an improved tool changing mechanism having tool grips that are selectively removable from a retracted position into extended clamped position with a pair of tools to be interchanged.

Another object of the invention is to provide an improved collet release mechanism for selectively actuating a releasable spring collet into clamped or unclamped engagement with a preselected tool.

A still further object of the invention is to provide a tool spindle having a releasable spring collet in operative proximity to positive drive means carried by the spindle in a manner that a tool is retained in operative driving engagement with the positive drive means by operation of the spring collet.

According to this invention, an improved machine tool is provided with a power driven rotatable tool spindle and a plurality of cutting tools stored in proximity thereto together with means for bodily interchanging a stored tool with a tool carried by the spindle. The stored tools are respectively provided with keys disposed to meshingly engage complementary keyways provided in storage sockets carried for positioning movement by a selectively indexable tool magazine or drum. For releasably securing a tool, the tool spindle is provided with a spring collet and a keyway adapted to be engaged by a key associated with the next selected tool. In order to effect a tool interchange between the storage drum and the tool spindle, the drum is indexed to advance a preselected tool to a tool change ready station. After this, the tool spindle is bodily moved to a spaced apart tool change station, and rotatably positioned to angularly align the keyway for receiving the tool. The tool change means is then actuated to effect extensible movement of a pair of tool grips into engagement with the tools respectively carried by the storage drum and the tool spindle; and, the tool change means are then actuated to bodily move the tools and reinsert the interchanged tools respectively in the storage drum and the tool spindle in a manner that the keys presented thereby are moved into meshing engagement with the complementary keyways. To effect the tool changing operation, coordinately operable release means are connected to actuate the spring collet in the spindle for releasing a tool carried thereby prior to the tool change, and reclamp the next selected tool after the tool changing operation has been completed. The complete sequence of machine movements necessary to effect a tool changing cycle is initiated in response to a manual or tape controlled signal with the necessary movements proceeding automatically in response thereto. Preferably, the entire machine tool including the tool selecting means and the tool changing operations are initiated by a predetermined program constituting a tape control system.

The foregoing and other objects of the invention which will become more fully apparent from the following description of the machine tool and tool change mechanism may be achieved by the embodiments described herein, as illustrated in the accompanying drawings, in which:

FIG. 1 is a view in perspective of a horizontal spindle machine tool, a tool storage magazine and a tool change mechanism and comprising a preferred embodiment of the invention;

FIG. 2 is a fragmentary view in horizontal section of the tool storage magazine and one of the associated storage sockets;

FIG. 3 is an enlarged fragmentary view, partly in elevation and partly in vertical section, showing a portion of the tool change magazine, the tool change mechanism and the associated tool receiving spindle;

FIG. 4 is an enlarged fragmentary view in vertical section of the tool change mechanism showing a pair of tools in interchanged position;

FIG. 5 is a fragmentary view in vertical transverse section through a portion of the tool change mechanism;

FIG. 6 is an enlarged detailed view, partly in elevation and partly in horizontal section, and with certain parts broken away to show the details of the mechanism for actuating one of the tool securing grips;

FIG. 7 is a view in transverse vertical section through the tool change mechanism showing the power actuating means for effecting the sequencing movements utilized to effect a tool change operation;

FIG. 8 is a view in horizontal section, taken generally along the lines 8-8 in FIG. 9, through the rearward end of the tool change mechanism;

FIG. 9 is a view in rear elevation of the cam mechanism together with the cooperating limit switches forindicating whether the tool grips are in retracted or extended position;

NO. 10 is a view partly in horizontal section and partly in plan through the support for the tool change mechanism;

FIG. 11 is an enlarged fragmentary view in elevation showing the manual means for releasing a tool clamp associated with one or another of the tool storage sockets;

FIG. 12 is an enlarged fragmentary view in horizonta section taken partly through a portion of the tool storage drum and through the support of the manual tool release mechanism;

FIG. 13 is a view in transverse vertical section through the spindle and showing the transmission and collet release mechanism;

FIG. 13A is an enlarged fragmentary view in front elevation of the tool spindle;

FIG. 14 is an enlarged fragmentary view in vertical section through the front end of a spindle in combination with a tap holder;

FIG. 15 is an enlarged fragmentary view in perspective, with certain parts broken away, and showing the releasable latch device for one of the tool grips;

FIG. 16 is a schematic hydraulic circuit diagram i1- lustrating the control for the tool spindle motor and the collet release mechanism;

FIG. 17 is a schematic hydraulic diagram illustrating the electro-hydraulic control system for effecting a tool change;

FIGS. 18A to 18E, inclusive, are representative of the sequence of movement'required to interchange tools between the tool spindle and the tool storage magazine;

FIG. 19 is a schematic electrical circuit diagram showing a portion of the control circuit;

FIG. 20 is another schematic electrical circuit diagram showing a different portion of the control circuit for effecting a tool change; and,

FIG. 21 is a schematic, block diagram illustrating the power control circuit for effecting selective movement of the various machine tool slides in response to the tape input.

Referring to the drawings, and particularly to FIG. 1 thereof, the invention is incorporated in a horizontal spindle type machine provided with a longitudinally extending base 25 and a forwardly extending base section 26. A vertically upstanding column 28 is slidably carried by the base 25 by means of cooperating ways [not shown] for selective longitudinal movement in either direction, along the X axis. The vertically upstanding column 28 is provided with lower and upper lateral extensions 29 and 30 that are respectively disposed to support the opposite ends of a rotatably journalled elevating screw 34. The column 28 is provided with vertically extending guideways and 36, respectively disposed to slidably engage cooperating guideways [not shown] presented by the inner side face of a vertically movable spindle head 37 The usual elevating screw nut [not shown] is secured within the spindle head 37 in a manner to operatively engage the vertically journalled elevating screw 34. The spindle head together with a forwardly extending extension 39 secured thereto is disposed to rotatably support a tool spindle 40 extending rearwardly therethrough in a manner to be selectively driven by a transmission contained within the spindle head 37. As represented in FIG. 1, a milling cutter 43 is secured within the forward tool receiving end of the spindle 40.

The forwardly extending base extension 26 is provided with horizontally disposed, spaced apart way surfaces 45. The spaced apart way surfaces 45 in turn are disposed to slidably support a saddle 48 for selectively transverse movement relative to the frame 25, and the tool spindle 40.

It will be apparent that the tool spindle 40 is supported for vertical movement along a Y axis, andlongitudinal movement along the X axis relative to the saddle 48 which is transversely movable along a Z axis. On its upper surface, the saddle 48 is disposed to rotatably support an index table 49, that in turn has releasably secured to its upper surface a work supporting pallet 50. The pallet 50 is releasably clamped to spaced apart ways [not shown] presented by the rotary table 49, and which are movable into alignment with longitudinally extending ways 52 presented by a right pallet support 53, and longitudinally extending ways 54 presented by a left pallet support 55. Another work supporting pallet 57 slidably carried upon the ways 54 is positioned in a loading station in preparation for subsequent movement along the ways into operative position upon the. rotary table, as the pallet 50 is moved therefrom into an unloading station upon the ways 52. Inasmuch as the transfer mechanism for effecting selective movement of the pallet 50 into an unloading station is not a part of this invention, the operative structure and control arrangement is not disclosed herein. This mechanism is fully disclosed in a copending patent application to Brainard et al., entitled Shuttle Pallet Transfer Device And Switching Control For Tape Readers, Ser. No. 777,122, which was filed Nov. 28, 1958.

During a machining operation, a pallet, such as the work supporting pallet 50, is fixedly clamped to the upper surface of the rotary table 49 for indexable movement therewith, and for selective transverse movement with the saddle 48 along the Z axis. The arrangement is such that, during a drilling operation for example, a metal cutting drill [not shown] secured within the tool spindle 40 is moved to a selected position along the X and Y axes, and the work saddle 48 is moved inwardly along the Z axis the required distance to perform the drilling operation, and then moved outwardly to permit repositioning of the tool spindle. Likewise, it will be apparent that other machining operations can be performed by effecting movement along any one axis.

One of the principal advantages of this invention is the fact that different tools, as required, may be automatically inserted into the tool receiving spindle 40 in a manner that a plurality of different machining operations may be performed with a minimum of time required for a tool changing function. This arrangement obviates the necessity for manually changing a tool since the tool presenting or tool change function as well as all other machine functions and movements are under the control of a tape carrying a coded program of machine functions to be performed.

As a prerequisite to effecting a tool changing operation, the saddle 48 is moved outwardly along the Z axis in a manner that a workpiece carried by the pallet 50 is moved outwardly a sufficient distanceto prevent interfering with the movement of the tool spindle 40. After this, the tool spindle 40 is moved from any preceding operating position along the X and Y axes to a predetermined position adjacent the tool change mechanism 60, and relative to a preselected tool, such as the drill 61, carried by a movable tool storage magazine or matrix 62 at the opposite side of the tool change mechanism 60. Movement of the preselected tool into the tool change station adjacent the tool printing mechanism 60 is effected by the appropriate indexable movement of the storage drum 62 during the previous machining operation. Both the tool presenting or tool change mechanism 60 and the indexable storage magazine 62 are carried by a stationary support member 63, that is spaced apart from the longitudinally movable column 28. After a preselected tool, such as the drill 61, has been moved into the tool change station, the mechanism 60 is operative to effect an interchange between the milling cutter 43 and the drill 61 as will hereinafter be more fully explained. The tool storage magazine 62 is provided with a plurality of storage sockets adapted to carry a total of 30 different metal cutting tools, including drills, taps, boring bars and milling cutters. Thus, at the start of a tape controlled program of machining operations, there are a total of 31 tools available, including the tool already carried by the spindle 40 plus the 30 tools stored in the magazine. A hollow stationary, circular shield 68 having rearwardly extending flange sides is positioned to overlie the tools carried by the rotatable storage magazine 62. The stationary shield 68 is provided with a cut away portion 69 in a manner that one or another of the preselected tools may be advanced into the tool change ready station adjacent the tool change mechanism 60.

As hereinbefore explained, all machine movements and functions, including the tool change function, are controlled by an electronic control system 41 responsive to a tape reader contained within the cabinet 42.

As represented in FIG. 2, the tool storage magazine 62 is journal led to rotate about a stationary shaft 73 fixedly secured to the vertically upstanding stationary support member 63. The storage magazine 62 comprises an enlarged circular plate 75 integrally formed with a forwardly extending tubular portion 76, the latter, in turn, being fixedly secured to a rotatable hub 77. The hub 77 is provided with flanged ends engaging the outer races of bearings 79 and 80; the inner races of which are respectively retained in engagement with the stationary shaft 73 and a forward extension 74 of the shaft. The usual retaining nut 81 is threaded on the for ward end of the shaft extension 74 to engage the inner race of the forward bearing 80, thereby retaining the hub 77 and the entire tool storage magazine 62 in rotatable engagement with the stationary shaft 73.

Toward its outer periphery, the circular plate 75 is provided with an enlarged rim having a plurality of peripherally spaced bored openings, such as the opening 83, disposed in parallelism with the axis of rotation of the storage magazine 62. Within each of the bored openings 83, there is provided a tool storage socket comprising a tubular sleeve 84 retained in position within the bored opening by means of a set screw 85. The sleeve 84 is provided with a keyway or notch 86 adapted to be engaged by a key 87 secured to a toolholder, such as the toolholder 88. It is noted that the keyway is always positioned in like angular relationship to the bored opening and in a plane extending radially from the axis of magazine rotation.

Inasmuch as the method of securing the milling cutter shank [not shown] within the toolholder 88 as well known in the art, it is deemed sufficient to state that each of the toolholders is adapted to be received within one or another of the storagesockets, as well as within the tool receiving end of the tool spindle 40, FIG. 1. During rotational indexing movement of the tool storage magazine 62, each of the toolholders 88 is forcibly clamped within the storage socket 84. To accomplish this, a clamp lever 91 is movably carried within an appropriate recess formed in the magazine adjacent the outer periphery of the tubular support sleeve 84, as shown in FIG. 2. The clamp lever 91 is journalled to pivot about a shaft 92, secured to the magazine, and is provided with an outwardly extending flanged end 94.

A spring 96 seated at one end against an adjusting screw within a circular recess formed in the rim of the storage magazine 62 is seated at its opposite end within a circular recess formed in the clamp lever 91 in a manner to urge a flanged lower end 94 thereof inwardly through a transverse slot formed in the tubular socket sleeve 84. Thus, the flanged lower end 94 of the clamp lever 91 is of arcuate shape normally disposed to engage an annular groove 97 formed toward one end of the toolholder 88. The spring 96 urges the lower end of the clamp lever 91 inwardly with sufficient force to prevent accidental outward displacement of the toolholder 88 from its storage socket during rotational movement of the storage matrix 62. Actually, the resiliently biased clamp lever 91 clamps the toolholder 88 within its socket with sufficient force to prevent either manual withdrawal of the tool 43 from the storage socket, or automatic retraction of the tool 43 from the storage socket during a tool changing function. To permit retraction of the tool 43 from the storage socket during an automatic tool changing function at the tool change station, therefore, it is necessary to completely disengage the clamp lever 91 from engagement with the annular toolholder groove 97. Each of the 29 other storage sockets in the magazine 62 is provided with resiliently biased latching mechanisms identical to that shown and described in FIG. 2.

The mechanism for releasing the clamp lever 91 is coordinately operative with a latching device disposed to effect final positioning movement of the tool storage magazine to a latched position for retaining a preselected tool in the tool change ready station. Likewise, as will hereinafter be more fully explained, a manually operative tool clamp release is provided at a spaced apart position from a tool change station to permit manual withdrawal of one tool and insertion of a different tool, for initially loading the tool storage matrix for effecting the necessary insertion or change of tools carried thereby.

Power for driving the storage magazine 62 for effecting selective indexable movement thereof is transmitted to a ring gear 103 secured to a rearwardly formed flanged shoulder formed on I the circular magazine plate 75 by means of cap screws 104.

After the storage matrix 62 has been moved for advancing a preselected tool into the tool change ready station, a pivotal latching member 105 carried by the supporting frame 63 is actuated to latch the magazine in selected position. The latching lever 105 is journalled to pivot about a support shaft 106, and is provided at its one end with a gear segment 107 disposed to meshingly engage the gear teeth presented by the ring gear 103. At its opposite end, the latching lever 105 is pivotally secured to a piston rod 110 associated with an actuating cylinder'lll. Upon arrival of the magazine 62 at its approximate final preselected position, the cylinder mechanism 111 is activated to urge piston rod 110 rightwardly, thereby effecting pivotal movement of the lever 105 for urging the gear segment 107 into meshing engagement with thering gear 103 for fixedly retaining a preselected tool in the exact required position. As this occurs, the particular tool clamp mechanism associated with the preselected tool is actuated to disengaged position, in a manner that the tool itself may be automatically retracted from its associated storage socket 84 during a subsequent tool changing function. To accomplish this, an actuating rod 114 is slidably carried within an angularly formed bored opening toward the edge of the stationary magazine support 63, in a manner that one end thereof is retained in operating position adjacent the upper end of the pivotal clamp lever 91. A spring 115 carried within an enlarged portion of the circular bored opening in the support 63 is connected to normally urge the actuating rod 1 14 to leftward disengaged position. During rightward movement of the piston rod 110 to effect latching engagement of the gear segment107, a cam surface presented by the inner face of latching lever 105 is moved to effect rightward axial movement of the actuating rod 114 in opposition to the spring 115. As this occurs, the actuating rod 114 engages the upper end of the pivotal clamp lever 91, thus moving the flanged lower end of the clamp lever in a clockwise direction to disengage it from the annular groove 97 presented by the toolholder 88.

Prior to actuation of the cylinder mechanism 111 to latch the storage matrix 62 in selected position and release the tool clamp 91, it is necessary to indexably move the storage magazine 62 the required amount for positioning a particular preselected tool at the tool storage station. To accomplish this, as shown in FIG. 11, a motor 118 is selectively activated to effect rotational movement of the tool storage magazine. The shaft of the motor 118 is provided with a sprocket engaging a chain 119 that engages another sprocket 121 secured to one end of a stub shaft 122 rotatably journalled in the support frame 63. The inner end of the stub shaft 122 is provided with a pinion 123 that engages the ring gear 103 fixedly secured to the circular plate 75 of the storage matrix 62.

For stopping rotational movement of the storage matrix 62 to position a preselected tool in the tool change ready station, each of the toolholder-s, such as the toolholder 88 in FIG. 2, is provided with a coded collar 126. As will hereinafter be more fully explained, the collar 126 is provided with axially spaced annular grooves 127 and annular rings 128, the number of grooves and rings as well as their respective axial positions being different on each of the toolholders to provide a different binary code signal for each of the toolholders. Thus, the grooves 127 and rings 128 carried by the collar 126 provide a binary code signal to actuate radially movable switch actuating leaves 130 carried by a retractable switch mechanism 131.

' 1n the event the numerical control system provides an input signal calling for the milling cutter 43, FIG. 2, subsequent rotational movement of the storage matrix 62 for positioning this tool in a ready station would be stopped upon engagement of the coded rings presented by the collar 126 with the switch actuating leaves 130. After this, the switch mechanism 131 is caused to be moved in a leftward, or clockwise direction, as viewed in FIG. 3, to retract the radially movable switch leaves 130 from engagement with the grooves on the coded collar 126. With the switch mechanism 131 moved in clockwise direction, the milling cutter 43 and associated toolholder 88 is then conditioned for automatic retraction from the storage socket 84 during a subsequent tool changing operation. Irrespective of the location of the milling cutter 43 in the magazine, indexable movement thereof is stopped upon arrival of this particular tool at the ready station in the event the input signal called for this tool. The method and structure utilized to effect indexable advancement of the magazine for advancing a code identified'tool in a tool change ready station is fully disclosed and described in US. Pat. No. 3,052,011.

As shown in FIG. 2, the milling cutter 43 is carried by the socket 84 at the completion of a tool change operation, i.e., after the tools 6.1 and 43 have been interchanged to the positions shown in FIG. 18E.

To support the code actuated switching mechanism 131 relative to the rotating tools carried by the rotatable tool storage magazine 62, a stationary arm 134 is secured to the forwardly extending end 74 of the stationary shaft 73. The support arm 134 is spaced outwardly from the front end of the shaft extension 74 by means of a circular flanged extension 135, and secured thereto by means of cap screws 136. The support arm 134 is integrally formed with an inwardly extending portion 138 to support the retractable switch mechanism 131. As shown in FIGS. 2 and 3, the arm 138 has secured to its outer end a support plate 139 disposed in parallelism with the plane of rotation of the storage magazine 62. The support plate 139 is provided with an enlarged lug having a threaded opening engaged by an outwardly extending cap screw 142 constituting a pivot shaft. A laterally extending arm 143 secured to the housing 144 of the switch mechanism 131 is provided with a bored opening that is rotatably engaged by the cap screw 142 for pivotable movement.

A switch retracting cylinder 147 is provided with a piston rod 148, adjustably secured at its outer end to a rectangular connector 149, the latter being provided with a bored opening engaging a pivot shaft 150 fixedly secured to the housing 144. As shown in FIG. 3, the piston rod is normally biased to its extreme rightward limit of movement by means of a spring 151 for maintaining the switch leaves 130 in a position to be successively engaged by the coded collars respectively presented by the various toolholders as they travel in a circular path relative to the switch mechanism. Upon arrival of a preselected tool at the tool change ready station, the cylinder mechanism 147 is activated to effect a clockwise pivotal movement of the housing 144 to the dotted line position indicated in FIG. 3, thereby moving the switch leaves 130 to a retracted position relative to the coded collar presented by the preselected tool. A

To adjust the allowable pivotable range of movement of the switch mechanism 131, the rectangular connector 149 is integrally formed with an upwardly extending arm engaged by an adjusting screw 153 threaded in a spacer block integrally formed with the support member 139. Actually, pivotable switch movement is limited by the head of the adjusting cap screw 153 in one direction, and in the other direction by a jam nut operative to retain the screw in adjusted position. The housing 144 is provided with another laterally extending arm 156 that carries an actuating cam 157 disposed to engage a limit switch 158 or a limit switch 159, depending upon the pivotably adjusted position of the switch mechanism 131. It will be apparent that whenever the housing 144 is biased outwardly in a manner that the switch actuating leaves 130 intercept the circular path of travel of the coded collars, the cam 157 will actuate limit switch 158. Conversely, whenever the cylinder 147 is activated to pivot the switch mechanism 131 to its inward retracted position, the cam 157 is moved to actuate the limit switch 159. As will hereinafter be more fully explained, the switches 158 and 159 are interconnected in the control circuit and constitute a portion of the control for effecting a selective tool change.

As hereinbefore explained, the process of preselecting a tool in response to coded tape input information is effected during the performance of a different preceding machine function, usually a machining operation. Thus, when that particular machining operation is complete, a preselected tool has already been moved into the tool change ready station adjacent the tool change mechanism 60. At that moment, in the event a tool change function is called for by the control tape, the spindle head 37 is bodily moved along the X and Y axes to a ready station on the opposite side of the tool change mechanism 60, as shown in FIG. 1. At the same time, the tool spindle40 is moved to an angular position for aligning the key 87 presented thereby in proper relationship to the keyway presented by the storage socket. After this has been accomplished, as shown in FIG. 3, the tool spindle 40 is positioned in the tool change ready station rightwardly of the tool change mechanism, and in a plane slightly lower than the preselected tool carried by the storage magazine 62. Irrespective of the location of the tool spindle 40 during the previous machining operation, it is returned to the predetermined tool change ready station indicated in FIG. 3.

The tool change mechanism 60 comprises essentially a forwardly extending support member 64 having secured to its under side a pair of inwardly projecting guideways 163 and 164, cooperating therewith to provide a flanged support for receiving the flanged upper portion of a carriage 169. The carriage 169, as shown in FIG. 3, is provided with a flanged upper portion disposed to be guidably constrained to the under side of the support member 64 by guideways 163 and 164 for selective reciprocable movement along an axis parallel to the axis of rotation of the tool spindle 40. As shown in FIGS. 3 and 7, a tool change member or tool changer 172 is pivotably secured to the guiding carriage 169 for selective axial movement therewith along the guideways 163 and 164. The tool changer 172 comprises a hollow housing structure 174 having secured to its upper face a pair of spaced apart upwardly projecting guiding abutments 177 and 178. At the start of a tool change cycle the guiding abutments 177 and 178 are normally retained in guiding engagement with the under side of guideways 163 and 164 in a manner to retain the housing 174 in predetermined angular relationship to the carriage 169. Further, at the start of a tool change cycle, the carriage 169 and pivotally mounted tool changer 172 are maintained at their extreme rearward position relative to guideways 163 and 164 and the support member 64, as shown in FIGS. 3 and 7.

The tool changer 172 is provided with a pair of oppositely extensible tool grips 181 and 182. The tool changer 172 including the extensible tool grips 181 and 182 constitute a tool presenting means whereby a selected tool is presented for relative movement into operative positive driving engagement with the spindle 40. The tool grips 181 and 182 are selectively movable from a retracted position within the tool changer housing 174, FIG. 3, into fully extended clamped engagement with toolholders respectively carried by the storage magazine 62 and the tool spindle 40, as represented in FIG. 4. 1

In order that the tool changer 172 may be bodily rotated to effect an interchange of tools, the hollow housing 174 associated therewith is integrally formed with a rearwardly extending hollow tubular shaft 186 extending through a circular opening 187 formed within therectilinearly movable carriage 169 as shown in FIG. 7. Concentrically formed with the circular carriage opening 187, are a pair of enlarged recesses disposed to receive the outer races of antifriction bearings 188 and 189, the inner races of which support the tubular shaft 186. Rearwardly of the bearing 189, a flanged spacing collar 190 keyed to the periphery of the tubular shaft 186 is provided with a tubular extension abutting the inner race of bearing 189. As shown in FIGS. 7 and 8, a cylinder 193 is secured between the flanged spacer 190 and a rearwardly spaced switch support plate 255 by means of peripherally spaced cap screws 256;. Thus, the cylinder 193 and switch support plate are pivotably movable upon corresponding rotation of the tubular shaft 186. The tubular shaft 186 extends through the cylinder 193 and is provided with a threaded rearward end disposed to be engaged by a complementary threaded lock nut 196 engaging a lock washer 197 abutting the support plate which abuts a rearward edge of the cylinder to retain the hollow housing 174 and associated intermediate parts in proper operating relationship as hereinbefore described.

For effecting automatic pivotable movement of the housing 174 at the proper time during a tool change, the central rearward portion of the carriage 169 is integrally formed with a pair of axially aligned cylinders cylinder 203 being disposed to extend upwardly between the guideways 163 and 164 into a hollow central portion of the support member 64. Whenever the rack 209 is in its upward position relative to the support member 64, as shown in FIG. 7, guiding abutments 177 and 178 secured to the upper surface of the housing 174, FIG. 3, are aligned to engage the under side of spaced apart guideways 163 and 164. Conversely, whenever the piston 207 is actuated to urge the rack 209 to its downward position, the entire housing 174 is pivoted 180 in a counterclockwise direction in a manner that guiding abutments 211 and 212 secured to the lower face of the housing 174, as shown in FIG. 3, are positioned to be aligned with guideways 163 and 164.

It will be apparent that pivotal movement of the housing 174 in response to selective actuation of the rack 209, FIG.-7, does not occur until the carriage 169 is moved to its extreme outermost position along the supporting guideways 163 and 164. Whenever the carriage 169 is advanced from the position shown by the solid lines in FIG. 7 to its extreme outermost position, the housing 174 may be selectively pivoted in either a clockwise or counterclockwise direction, as required, to effect an interchange in the position of tools respectively carried by tool grips 181 and 182, FIG. 3. As represented by the phantom lines in FIG. 7, the tool changer housing 174 is shown in an intermediate 90 position relative to the supporting carriage 169 and the outer ends of the guideways 163 and 164 carried by the support 64. It will be readily apparent that the housing 174 together with the tools secured thereto will clear the ends of the guideways only when the carriage 169 is in its extreme forward position.

For retaining the carriage 169 and housing 174 in rearward position adjacent the tool change ready station, there is provided a power actuated hydraulic driving mechanism as shown in FIGS. 7 and 10. As there shown, a hydraulic cylinder 215 is secured at its forward end to a transverse shaft 216 journalled for pivoting movement within a pair of circular bearing recesses presented by inwardly extending shouldersintegrally formed with the support 64. An axially movable piston rod 219 associated with the cylinder 215 is provided with a squared end 220 that is pivotably secured by means of a shaft 221 to the central portion of an actuating arm 223. The low end of the actuating arm 223 is provided with a transversely formed bored opening journalled to rotate about a shaft 224 secured at its opposite ends within the carriage structure 169. At its upper end the actuating arm 223 is pivotally secured by means of a shaft 228 to a pivot link 229 supported for pivotal movement by a shaft 230 secured within the forward upper portion of the hollow support member 64. With the cylinder 215 actuated to retain the piston rod 219 in the position represented in FIG. 7, the associated linkage, including the pivotally interconnected link 229 and arm 223, are urged in a direction to retain the carriage 169 and tool changer 172 in their extreme rearward positions to position the tool grips 181 and 182, FIG. 3, in operating positions adjacent the tool change ready stations. In rearward position, a dog 234 secured to the carriage is positioned to actuate a limit switch 235 secured to an inner side wall of the support member 64.

After the tool grips 181 and 182, FIG. 3, are moved laterally into extended clamping engagement with the associated tools during a tool change function, the cylinder 215, FIG. 7, is activated to effect axial movemerit of the piston rod 219 for urging the carriage 169 and housing 174 to extreme outward position, thus effecting axial retracting movement of the tools from the associated sockets. With the cylinder 215 activated to urge the piston rod 219 axially outward for moving the carriage 169 and tool changer 172 outwardly, the dog 234 actuates a switch 236. As soon as this occurs, the housing 174 is caused to pivot from the position it occupies as depicted in FIG. 188 to the position it occupies as shown in FIG. 18D for interchanging the position of the tools. The cylinder 215 is again activated to urge the piston rod 219 in the reverse direction for returning the carriage and housing 174 to their innermost position, during which the interchanged tools are simultaneously inserted into the sockets respectively provided in the storage magazine and tool spindle.

For actuating the tool grips 181 and 182 from the retracted position shown in FIG. 3 to an extended clamped position, FIG. 4, a drive pinion 238 is disposed to be rotated in a counterclockwise direction. The drive pinion 238 is secured to the outer end of a shaft 239 extending rearwardly through a bored opening in the tubular sleeve 186, and having secured to its rearward end a gear 240. The shaft 239 and gear 240 are driven by an actuating rack 241. At its forward end, the shaft is rotatably supported by a bearing 242 having its outer race supported within a circular recess formed within the housing 174; and, at its rearward end by a bearing 243 having its outer race carried within an enlarged circular recess formed in the rearward end of the tubular shaft 186. As shown in FIGS. 7 and 8, an elongated tubular end of a spacing washer 247 is retained in abutting engagement with the inner race of bearing 243 by means of the usual lock nut 248 threaded on the extreme rearward end of shaft 239, a seal 250 being carried forwardly of the flanged end of the spacing washer.

As shown in FIGS. 7, 8 and 9, the tubular spacing washer is secured for rotation with the shaft 239, and has fixed to its flanged edge a cam plate 253. With the tool grips 181 and 182 in retracted position, the shaft 239 is so positioned that the cam plate 253 secured thereto engages a limit switch 254 that is fixedly secured to the switch support plate 255. The circular support plate 255 constitutes a carrier for the switch 254, as well as for a limit switch 258 secured thereto in angularly'spaced relationship. The support plate 255 is disposed to cooperate with a tubular shield 260 and rear cover plate 261 to constitute an enclosure for the switch mechanism, including limit switches 254 and 258, constituting a portion of the sequence control device for effecting a tool change function. As shown in FIG. 8, the switch support plate 255, cylinder 193, and

flanged collar 190 are carried for bodily pivotable movement along with the tubular tool change shaft 186.

Inasmuch as the cylinder 193 is carried for bodily pivotable movement along with the tubular shaft 186, it functions to retain the tool grip control shaft 239 in preselected angular position. For. effecting rotary movement of the shaft 239, the gear 240 secured thereto is engaged by rack 241 secured at its opposite ends to pistons respectively carried for slidable movement in axially aligned bored openings 237 and 244 formed in the opposite ends of cylinder 193. Whenever the rack 241 is retained in leftward position, the cam plate 253 is retained in actuating engagement with limit switch 254, indicating that the respective tool grips 181 and 182 are in the retracted positions shown in FIG. 3. Whenever the tool grips 181 and 182 are urged into outwardly tool gripping engagement, as shown in FIG. 4, the rack 241 is retained in its extreme rightward position, as viewed in FIG. 7, with the cam plate 253 being retained in actuating engagement with limit switch 258, FIG. 9. With the tool grips 181 and 182 extended into clamped engagement with the toolholders, as shown in FIG. 4, hydraulic fluid under pressure is continuously supplied within the cylinder 193, FIG. 7, to retain the rack in a rightward direction. Thus, continuous clamping pressure is applied to the tool grips 181 and 182 during a tool changing movement.

It will now be assumed that the tool storage ma azine and spindle head 37 have been positioned as shown in FIGS. 1 and 3 in preparation for a tool change. It will be further assumed that the tool clamps respectively associated with each of the storage sockets, in the matrix 62 and the tool spindle 40 have been released; and, the tool spindle 40 angularly adjusted to position the keyway provided therein in proper relationship to the keyway carried by the storage socket 84. With these conditions existing, the rack 241 is in leftward position and the tool grips 181 and 182 are in retracted position, with the cam 253 engaging limit switch 254. At this moment, a tool changing cycle is initiated by a signal from the numerical control system. Thereupon, the rack 241, FIG. 7, is urged rightwardly to effect extensible movement of the tool grips 181 and 182 from retracted position, FIG. 3, into engagement with the tools respectively carried by the matrix 62 and tool spindle 40, FIG. 4. As soon as this occurs, the hydraulic cylinder 215, FIG. 7, is activated to effect rectilinear forward movement of the carriage 169 and tool change member 172 forwardly to the limit of movement as indicated by the phantom line position in FIG. 7. Next, the rack 209 is urged rightwardly to effect pivotal movement of the entire tool change member, together with the tools secured thereto, 180 in a counterclockwise direction to bring the guiding abutments 211 and 212 into approximate horizontal alignment with the under side of the guideways 163 and 164. The cylinder mechanism 215, FIG. 7, is then again activated to return the carriage 169 and tool change member 172 to the limit of movement in a rearward direction. During this rearward movement, guide abutments 211 and 212 are moved into guiding engagement with the under sides of guideways 163 and 164 for properly realigning the interchanged tools with the respective storage sockets presented by the magazine 62 and tool spindle 40. The

interchanged tools are inserted into the storage sockets, tool 61 being inserted into the tool spindle 40 and tool 43 inserted into the empty storage socket in the tool magazine 62. The tools are then reclamped in interchanged positions, and the rack 241, FIG. 7, again urged to its leftward position for returning tool grips 181 and 182 to retracted position in readiness for the next .tool changing cycle. The general sequence of events accompanying a tool change cycle is schematically represented in FIGS. 18A to 18E inclusive. The bodily rectilinear movement of the supporting carriage and tool change member 172 from rearward to outward positions is indicated by the solid and phantom lines in FIG. 7, as hereinbefore explained. It will be apparent that the tool change member 172 is rotated in a counterclockwise direction to effect an interchange during this particular tool changing cycle, as shown in FIG. 18C. After the tool change member has functioned to place the interchanged tools in their respective desired positions and the tool grips 181 and 182 returned to their retracted positions, as shown in FIG. 18E, it will be apparent that the tool change member 172 is so positioned that the guide abutments 211 and 212 are retained in guiding engagement with the under side of the guideways. During the next subsequent tool changing cycle, therefore, the general sequence of events will be identical to that hereinbefore described with the exception that the tool change member 172 will be rotated 180 in .a clockwise direction to return the guiding abutments 177 and 178 into alignment with the guideways. Thus, the direction of pivotable movement of the tool change member 172 depends on its position at the moment the tool changing cycle is initiated. Each succeeding cycle for effecting a tool change effects 180 rotation of the tool change member 172 in an opposite direction.

One of the principal advantages of this invention is the fact that cutters of a relatively large diameter may be successively interchanged between a tool storage magazine and the tool spindle. This is accomplished, in part, by the novel arrangement of extending the tool grips from a retracted position into extended clamping engagement with the tools. Likewise, the tool change member 172 is so arranged as not to interfere in any manner with the tool that is to be interchanged. The tool grips 181 and 182 are disposed to engage the coded collars utilized for tool identification. Likewise, the tool grips are retracted within a housing 174 of minimum width in a manner that the entire housing is positionable between the front face of the tool spindle extension 39 and the rearward face of a tool to be changed, such as the milling cutter 43 in FIG. 1.

During a tool changing cycle, as the entire tool change member 172 is being pivoted l, the tool grips 181 and 182 are disposed to grip the tools with sufficient force to preclude angular displacement of the tools. Thus, the keys carried by the toolholders are engageable with the complementary keyways provided in the tool sockets. Likewise, with the tool spindle positioned in the proper angular position prior to initiating a tool change cycle, the keyway presented thereby is positioned to receive the cooperating key fixed to the toolholder of the tool about to be inserted therein. During the tool changing cycle, the control system for effecting angular positioning of the tool spindle is disposed to positively retain the spindle in predetermined angular position. As the selected tool is inserted therein, the beveled faces of the key secured to the corresponding toolholder are moved into engagement with the keyway in the spindle effecting a slight angular movement of the toolholder within the tool grip. Thus, after the spindle clamp is operated to clamp the selected new tool in the spindle, the cooperating key and keyway provide a positive driving connection between the tool spindle 40 and the selected milling cutter. Although the positive drive between the tool spindle and cutter is advantageous for all types of cutting tools, it is especially advantageous for cutters of larger diameter, such as the milling cutter 43 in FIG. 1. It is to be especially noted that the complete tool changing cycle is automatic, with no manual adjustment or selection being required. Thus, after the selected tool is clamped to the tool spindle with the driving key engaging the spindle keyway, the entire spindle head 37 may be bodily moved to effect the next required machining operation. During such an operation, as hereinbefore explained, the tool storage magazine 62 is indexably moved in response to the numerical control system for positioning the next selected tool in operative proximity to the tool change mechanism.

The novel tool grips 181 and 182 are operated simultaneously into extensible clamped position upon counterclockwise rotation of the gear 238 as shown in FIGS. 4- to 6, inclusive. To facilitate the description, only the operation of the tool grip 182 will be described in detail since it will be apparent that tool grip 181 is operated in identical fashion to tool grip 182. Where deemed advantageous, appropriate corresponding parts 7 associated with the tool grip 181 are identified by the same reference numeral as that applied to the parts in tool grip 182, with the exception that those parts associated with grip 181 are identified by the suffix T.

The gear 238 is disposed to meshingly engage rack 263 slidably constrained for rectilinear movement by the bifurcated lower portion of a tool change arm 268. As shown in FIGS. 3 and 6, the forward upper portion of the tool change arm 268 is provided with a longitudinally extending groove 269, coacting with an adjustable limit screw 270 threaded in the housing 174 to limit the outward extensible movement of the tool change arm 268. Between the downwardly projecting forks presented by the forward portion of the tool change arm 268, the under side of the forward portion is provided with a flat way surface 272 disposed to slidably engage a flat way surface presented by the forward portion of the rack 263. Rearwardly of a vertical shoulder 273 defining the upper forward portion of the tool change arm 268, there is provided a longitudinal opening between the spaced apart, rearwardly extending forks or arms 275 and 276 integrally formed with the tool change arm 268. The under side of the rack 263 is slidably engaged by a flat way surface presented by the upper face of a rack support 278 fixedly secured between the downwardly, and rearwardly extending arms 275 and 276, integrally formed with the tool change arm 268 by means of pins 279.

The forward upper portion of the tool change arm 268 is provided with a semi-circular surface 281 disposed to cooperate with a complementary semi-circular recess 282 presented by a tool change clamp 283, pivotably secured to the forward portion of the tool change arm 268.

To accomplish this, as shown in FIGS. 3 and 6, the forward portion of the tool change arm 268 is provided with a vertical slot disposed toreceive the bifurcated rearward portion of the tool change clamp 283 which is supported therein by means of a horizontally disposed pivot shaft 285 secured at its opposite ends in the vertical arms 275 and 276 of the tool change arm 268. An actuating pin 288 is fixedly secured at its opposite ends between the arms 289 and 290 integrally formed with the pivotable tool change clamp 283. With the tool grip 182 in retracted position, as represented in FIGS. 3 and 6, the arrangement is such that the actuating pin 288 fixedly carried by the movable clamp 283 is engaged by an angular cam face 292 formed at the extreme forward end of the movable rack 263. Whenever the tool grip 182 is in extended clamped position,'as shown in FIG. 4, the actuating pin 288 secured to the movable tool clamp 283 is engaged by a semi-circular opening 294 that is formed in the upper forward portion of the rack 263, adjacent the angular cam face 292 presented thereby. During movement from fully retracted position, FIG. 3, to extended clamped position, FIG. 4, it will be apparent that the rack 263 is moved a slight distance relative to the tool change arm 268 as will hereinafter be more fully explained.

The tool grip 182 comprises an assembly of cooperatively disposed, major movable parts including the tool change arm 268, the rack support 278 secured to the arm 268, the rack 263 and the tool change clamp 283 pivotably secured to the arm 268. The assembly comprising the extensible ,tool grip 182' is supported for rectilinear slidable movement by way surfaces presented within the housing 174 and way surfaces provided by a cover plate 296 secured to the housing 174 by means of cap screws 297. As shown in FIGS. 3 and 4, the housing 174 is provided with upper and lower way surfaces 303 and 304 disposed in parallelism to engage the forward upper portion of the tool change arm 268, and the lower portion thereof. In like manner, the opposite faces of the tool change arm 268 are constrained for slidable movement between a way surface 305 formed in the housing 174, and a cooperating way surface 386 presented by the inner face of the outer support cover 296.

During movement of the tool grip 182 from fully retracted to clamped position, it is essential that the independently movable tool change clamp 283 be retained in pivoted fully open position during the first part of the movement, as shown in FIG. 3. Initially, during clamping movement, the tool change arm 268 together with the rack 263 and pivotable clamp arm 283 are retained in the position shown as they are moved rightwardly upon counterclockwise rotation of drive gear 238. As the semi-circular recess 281 presented by the tool change arm 268 is moved into proximity to the periphery of the toolholder, during rightward movement, the rack 263 is caused to move independently of the tool change arm 268 in a manner to effect the necessary pivotal movement of the clamp 283 into engagement with the toolholder. During this particular portion of the tool changing cycle, the rack 263 continues to urge both the tool change arm 268 

1. In a tool change mechanism for a machine tool; a storage socket carried in an operating tool change ready station; a power driven rotatable tool spindle movable to a predetermined spaced position relative to said storage socket; a tool changer comprising a horizontally disposed support presenting guideways; a support carriage guided by said support for longitudinal movement along an axis parallel to said socket; a tool change mechanism pivotally carried by said carriage and provided with spaced apart guide shoes slidably engaging said support; a pair of extensible gripper devices carried within said mechanism for extensible movement in opposite directions therefrom; a first power drive connected to activate said gripper devices into simultaneous clamped engagement with tools respectively carried by said storage socket and said tool spindle; a second power drive connected to effect longitudinal movement of said carriage and said mechanism for simultaneously retracting said tools from said storage socket and said tool spindle; a third power drive connected to pivotably rotate said mechanism 180* for interchanging the aligned positions of said tools with said storage socket and said tool spindle; means for reversing the operation of said second power drive for inserting said tools in interchanged positions into said storage socket and said tool spindle respectively; and means for actuating said gripper devices to released positions.
 1. In a tool change mechanism for a machine tool; a storage socket carried in an operating tool change ready station; a power driven rotatable tool spindle movable to a predetermined spaced position relative to said storage socket; a tool changer comprising a horizontally disposed support presenting guideways; a support carriage guided by said support for longitudinal movement along an axis parallel to said socket; a tool change mechanism pivotally carried by said carriage and provided with spaced apart guide shoes slidably engaging said support; a pair of extensible gripper devices carried within said mechanism for extensible movement in opposite directions therefrom; a first power drive connected to activate said gripper devices into simultaneous clamped engagement with tools respectively carried by said storage socket and said tool spindle; a second power drive connected to effect longitudinal movement of said carriage and said mechanism for simultaneously retracting said tools from said storage socket and said tool spindle; a third power drive connected to pivotably rotate said mechanism 180* for interchanging the aligned positions of said tools with said storage socket and said tool spindle; means for reversing the operation of said second power drive for inserting said tools in interchanged positions into said storage socket and said tool spindle respectively; and means for actuating said gripper devices to released positions.
 2. In a machine tool; a power driven tool spindle provided with a releasable spring collet and a keyway for engaging a tool for a positive drive thereto; a tool storage matrix provided with a plurality of tool receiving sockets respectively provided with internal keyways disposed in identical angular relationship, said keyways presented by said storage sockets being identical in size to the keyway in said spindle; means for effecting relative movement between said tool storage matrix and said tool spindle for moving a preselected one of said tools to a tool change station in predetermined spaced relationship to said tool spindle; means for rotatably moving said tool spindle to an angular position in which the keyway provided therein is in predetermined angular relationship to the keyway in the storage socket at the tool change ready station; and a tool transfer mechanism operatively connected to effect an interchange of the tools respectively carried by the storage socket in said ready station and said tool spindle.
 3. In a machine tool; a tool storage socket presenting an internal keyway; a rotatable power driven tool spindle having a releasable tool clamp and a keyway corresponding in size and configuration to the key carried by said storage socket; a tool having a shank provided with a key complementary to the keyways presented by said storage socket and said tool spindle; power drive means connected to rotate said tool spindle to a predetermined angular position in which the keyway presented thereby is in a predetermined angular position relative to the keyway carried by said stationary storage socket; a tool change arm including tool securing means operatively connected to withdraw a tool from said storage socket and replace the tool in said tool spindle in such a position that the key carried by said tool engages the keyway in said tool spindle ; and means for actuating said spindle clamp for fixedly securing a tool therein whereby said tool is positively engaged in said spindle during subsequent operation of said spindle to perform a machining operation.
 5. In a tool change mechanism for a machine tool; a horizontal guideway; a carriage slidably carried for rectilinear movement along said guideway; a tool changer pivotally secured to said carriage provided with means slidably engaging said guideway for retaining it in predetermined alignment with said carriage; a pair of extensible tool changing clamps carried by said changer for selective laterally extensible movement from retracted positions; power drive means connected to move said carriage in one direction until said changer is disengaged from said guideway; means connected to effect pivotal movement of said changer relative to said carriage; means connected to reverse said power drive means for moving said carriage in the opposite direction to urge said changer into guiding engagement with said guideway for moving it into predetermined alignment with said carriage; and means connected to urge said clamps from extended to retracted positions.
 6. In a machine tool; a power driven rotatable tool spindle; positive drive means provided in the tool receiving end of said tool spindle; a releasable clamp mechanism provided in the tool receiving end of said spindle in proximity to said positive drive means; means for activating said clamp mechanism into clamping engagement with a tool having a shank inserted in the tool receiving end of said spindle and being provided with complementary drive means engageable with the positive drive means in said spindle; means for rotating said tool spindle to a predetermined angular position to retain the positive drive means carried thereby in a position to facilitate a tool change; a tool storage matrix including moving means operable to move a preselected tool including positive driving means carried thereby into a predetermined angularly spaced position relative to said tool spindle; a tool change mechanism including positive gripping means actuatable into clamped engagement with the tool in said spindle and the preselected tool; means for releasing said clamp activating means; means for moving said tool change mechanism for interchanging the preselected tool with the tool in said spindle in a manner that the positive drive means carried by said preselected tool engage the complementary positive drive means in said spindle; means for releasing said tool gripping means and for reactivating said clamp mechanism to positively clamp the preselected tool in said spindle; and a power drive mechanism connected to drive said tool spindle independently of said angular positioning means for performing a machining operation.
 7. In a machine tool; a rotatably power driven tool receiving spindle in said machine; a disengageable tool clamp associated with said spindle; a tool storage matrix provided with a plurality of tool storage sockets; a plurality of tools having shanks releasably fitted within said sockets; a resiliently biased clamp associated with each of said sockets and urged into clamping engagement with the tool shank positioned therein, said clamps being adapted to engage said tool shanks with sufficient force to prevent withdrawal of said tools from said sockets; indexably operative power driven means connected to move said matrix for advancing a preselected one of said tools to a tool change ready station; a power driven positioning meChanism responsive to arrival of said matrix at selected position and being operative to latch said matrix in position and to release the clamp associated with the storage socket in the ready station to permit withdrawal of the preselected tool; a tool change mechanism carried for axial movement at said ready station between said preselected tool and said tool spindle, said mechanism being carried for rectilinear movement along a path parallel to the axis of said tool spindle; a pair of tool grip devices operatively carried by said mechanism for laterally extensible movement from a retracted position into clamping engagement with the preselected tool and a tool in said spindle; means for disengaging said tool clamp prior to a tool change; first power operable means connected to move said mechanism axially for withdrawing said tools from said storage socket and said spindle; second power operable means connected to actuate said mechanism for interchanging the position of said tools for moving said preselected tool into alignment with said tool spindle; a reverse mechanism operative to actuate said first power operable means for inserting said interchanged tools into said storage socket and said spindle respectively; and means for reengaging said spindle clamp to secure said preselected tool in said spindle.
 8. In a machine tool; a reciprocable support carriage; a reversible power drive transmission operatively connected to move said support carriage in selected direction; a tool change member pivotally secured to said carriage for reciprocable movement therewith; a pair of laterally extensible gripping devices carried by said tool change member; a second reversible power drive transmission connected to effect selective extensible movement of said devices into gripping engagement with a pair of elements relatively movable into proximity therewith; a third power drive connected to pivot said member whenever said carriage is at the limit of its movement in one direction for interchanging the positions of said devices; and guide means connected to guidably constrain said carriage for its full extent of reciprocable movement, said guide means being simultaneously operative to restrain said tool change member against pivotal movement excepting during the interval that said carriage is at its limit of movement in one direction.
 9. In a tool change mechanism for a machine tool; a horizontal guideway; a carriage slidably carried by said guideway for rectilinear movement; a tool changer pivotally secured to said carriage for rectilinear movement therewith, said changer being provided with an upper abutment disposed to slidably engage said guideway to preclude pivotal movement thereof whenever said changer is being operated to withdraw or insert tools; a pair of tool carrying sockets carried for relative bodily movement into positions of proximity to said tool changer; a bodily movable power driven tool spindle carrying one of said sockets; a tool storage member carrying the other of said sockets and being provided with a plurality of additional tool storage sockets; a pair of power operated tool clamps extensibly movable from retracted positions into clamped engagement with tools carried by said sockets; first power drive means for moving said carriage rectilinearly along said guideway for extracting said tools from said sockets until the upper changer abutment is disengaged from said guideway; second power drive means connectable to rotate said changer mechanism 180* for interchanging the relative positions of said tools; a lower changer abutment being moved into approximate alignment with said guideway upon pivotal movement of said changer; a reverser connected to effect reversed movement of said first power drive means for moving said carriage and said tool changer in an opposite direction to urge the lower abutment presented by said chAnger into guiding engagement with said guideway to align the interchanged tools with said tool receiving sockets, said reversedly operating power drive means effecting continued movement of said carriage and changer until said interchanged tools are positioned in said sockets; and means connected to disengage and retract said tool clamps.
 10. In a machine tool; a pair of tool carrying support members bodily movable into predetermined spaced apart positions, one of said members being adapted to store a preselected tool and the other of said members being bodily movable for performing a machining operation; releasable tool securing means respectively carried by said members; means for releasing said tool securing means prior to effecting an interchange of tools therebetween; a guideway positioned between said support members; a carriage carried by said guideway for reciprocable rectilinear movement; a tool changer pivotally secured to said carriage and disposed to slideably engage said guideway whenever tools are withdrawn from or inserted into said support members; a pair of selectively operative tool clamps carried by said changer for laterally extensible movement into clamped engagement with tools carried by said members; power drive means connected to move said carriage and said changer along said guideway; means for pivoting said changer relative to said carriage for interchanging the relative positions of said tools; means for reversing said power drive means to move said carriage and said changer in a direction to insert the interchanged tools into said tool support members; and means for disengaging and retracting said tool engaging clamps.
 11. In a machine tool; a guideway; a member slidably secured to said guideway for reciprocable movement therealong; a second member pivotally secured to said first member for reciprocable movement therewith, said second member being disposed to slidably engage said guideway for retaining it in predetermined alignment with said first member; a pair of tool grips carried within said second member for laterally extensible movement therefrom in a plane perpendicular to the plane of movement of said members; reversible means connected to move said devices into gripping engagement with a pair of elements positionable in predetermined proximity to said second member; first power drive means connected to move said members in one direction until said second member is moved out of engagement with said guideway; second power operable means connected to pivot said second member until another portion thereof is engageable with said guideway upon movement in the opposite direction; and means for reversing the operation of said first power operable means for returning said members to their starting positions with respect to said guideway.
 12. In a machine tool; a power driven tool spindle provided with a tool receiving end presenting positive drive means; a selectively releasable clamp carried by the tool receiving end of said spindle in proximity to said positive drive means and being operative to securely clamp a tool in meshing engagement with said positive drive means carried thereby; a power driven tool change mechanism associated in operative proximity to said tool spindle; a tool carried by said change mechanism presenting positive drive means adapted to be moved into meshing engagement with the drive means carried by said tool spindle, said tool being so carried by said change mechanism that the positive drive means presented thereby is in predetermined angular position; power driven means operative to effect bodily movement of said spindle relative to said change mechanism for receiving a tool carried thereby; another spindle drive connected to rotate said tool spindle for moving the positive drive means associated therewith into a predetermined angular position; means for actuating said tool Clamp to a released position for receiving a tool; control means operative to activate said tool change mechanism for inserting the tool carried thereby into the tool receiving end of said spindle with the positive drive means respectively carried by said tool and said spindle moved into intermeshing engagement; and means for reactivating said spindle tool clamp for securing the tool whereby said tool spindle is bodily movable to perform a machining operation.
 13. In a machine tool; a guide member; a carriage slidably secured to said guide member for rectilinear movement; a tool change member pivotally secured to said carriage and provided with a portion slidably engaging said guide member during a part of carriage movement in either direction; a power driven tool grip laterally extensible from said member into releasable clamping engagement with a tool carried in proximity thereto; a reversible power drive energizeable to move said carriage in one direction until said member is moved out of engagement with said guide member; a second power drive responsive to arrival of said carriage at its limit of movement in one direction connected to pivot said member until another portion thereof is brought into guiding alignment with said guide member; and means connected to activate said reversible drive mechanism for moving said carriage in the opposite direction for moving the other portion thereof into slidable guiding engagement with said guide member whereby said tool grip is moved to a different predetermined position relative to said carriage for selectively moving a tool from one position to another.
 14. In a tool change mechanism for a machine tool; a horizontal guideway; a carriage slidably secured to said guideway for rectilinear movement; a tool change member integrally formed with a tubular extension journalled to rotate in said carriage, said member presenting a portion slidably engaging said guideway for maintaining it in predetermined alignment with said carriage during part of the rectilinear movement in either direction; a pair of tool grips normally retracted within said member, said tool grips being laterally extensible from retracted position to extended clamped position in planes perpendicular to the plane in which the carriage and member are movable; a selectively operable power drive shaft extending through said tubular shaft connected to effect laterally extensible clamping movement of said tool grips, said shaft being reversibly operable to effect movement of said tool grips from extended position to retracted position within said member; first power operable means responsive to movement of said tool grips to extended clamped position for effecting rectilinear movement of said carriage in one direction until said member is moved out of engagement with said guideway; second power operable means responsive to arrival of said carriage at its limit of movement connected to rotate said member until another portion thereof is aligned with said guideway; and means responsive to the changed position of said member connected to reverse the operation of said first power operable means for moving said carriage in the opposite direction and for moving the other portion of said member into aligning engagement with said guideway for maintaining said tool grips in predetermined interchanged position.
 15. In a machine tool; a horizontal guideway; a carriage slidably secured to said guideway for rectilinear movement in one direction; a tubular shaft journalled in said carriage for rotation about an axis parallel to said guideway; a member secured to said shaft and being provided with spaced apart portions respectively disposed to slidably engage said guideway during a part of the movement of said carriage in either direction; a pair of selectively operable tool grips extensible in opposite directions from said carriage; poweR drive means connected to move said carriage together with said member in one direction until said member is moved to a position out of engagement with said guideway; a second power drive connected to effect pivotal movement of said member until another portion thereof is aligned with said guideway; and means for reversing the operation of said power drive means for moving said carriage in the opposite direction for returning the other portion of said member into guiding engagement with said guideway.
 16. In a machine tool; a tool storage magazine provided with a plurality of tool receiving storage sockets, each of said storage sockets being provided with a keyway disposed in like angular relationship relative to said magazine; a plurality of power actuated tool clamps respectively associated with said storage sockets; a plurality of tools respectively retained in said storage sockets by operation of said clamps during movement of said magazine; power driven means connected to move said magazine for positioning a preselected tool carried thereby in a tool change ready station; power actuated means responsive to arrival of said magazine at selected position connected to latch said magazine against movement, said power actuated latching means being simultaneously operative to disengage the clamp mechanism associated with the storage socket carrying the selected tool in said ready station; an associated power driven tool receiving spindle carried for bodily movement to a tool change ready station, said tool spindle being provided at its tool receiving end with a keyway identical in configuration to the keyways in said storage sockets; a power drive motor connected to rotate said tool spindle for performing a machining operation; a positioning control connectable to operate said spindle motor for rotating said spindle for moving the keyway contained therein to a predetermined angular position as a prerequisite to effecting a tool change function; and a tool change mechanism including tool securing means operatively actuatable to interchange a tool carried by said spindle with a preselected tool in the tool storage socket carried by said magazine to said tool change ready station.
 17. In a machine tool; a pair of tool receiving sockets carried for relative bodily movement and respectively provided with positive drive means to preclude the angular displacement of tools releasably inserted therein; a pair of tools releasably carried by said sockets and presenting positive driven means respectively disposed to be engaged by said positive drive means presented by said sockets, one of said sockets being rotatable to perform a machining operation; power driven means connected to effect relative bodily movement of said sockets for positioning the positive drive means respectively carried thereby in predetermined spaced apart alignment for facilitating a tool interchange therebetween; a tool change mechanism including a pair of releasable tool grips operatively actuatable to grip said tools respectively carried by said tool sockets and being movable for effecting an interchange of tools therebetween; and second power drive means connected to actuate said tool change mechanism and said grips for interchanging tools between said prepositioned sockets.
 18. In a machine tool; a tool change mechanism carried for axial and rotatable movement; a pair of power actuatable tool grips carried by said mechanism for selective extensible movement from retracted positions to extensible tool gripping positions; a pair of tool receiving supports respectively comprising a rotatable tool spindle and a tool storage member carried for relative bodily movement; first power drive means connected to effect bodily movement of said supports for moving tools respectively carried thereby to tool changing positions adjacent said mechanism for interchanging tools between said supports; second Power drive means connected to effect extensible movement of said grips into tight clamping engagement with tools predeterminately positioned by said supports; third power drive means connected to effect axial and rotatable movement of said tool change mechanism for effecting an interchange of tools between said predeterminately positioned supports; and control means connected to effect coordinated operation of said power drive means.
 19. In a tool changing machine; a tool receiving storage socket presenting a positive drive slot; a rotatable tool spindle having a tool receiving socket presenting a positive drive slot similar to that in said storage socket; a pair of tools presenting keys and being respectively positively engaged in said storage socket and said spindle socket; separate power drive means respectively connected to rotate said spindle and to effect relative bodily movement between said storage socket and said spindle; control means operative to actuate said power drive means for moving said storage socket and said spindle socket into predetermined spaced positions with the positive drive slots respectively presented thereby in proper tool changing alignment; and a tool changing mechanism operatively connected to effect an interchange of tools between said storage socket and said spindle socket.
 20. In a tool changing machine operative to interchange a pair of tools respectively presenting like positive drive means; a movable tool storage member provided with a socket presenting positive drive means operative to releasably interengage the complementary positive drive means presented by a stored tool; a bodily movable rotatable tool spindle having a tool socket presenting positive drive means adapted to interengage the positive drive means presented by a tool releasably inserted therein; separate power drive means respectively connected to rotate said spindle and to effect bodily movement of said spindle for performing a machining operation; positioning control means operative to actuate said power drive means for moving said spindle into a predetermined spaced position relative to said spindle and with the positive tool driving means presented thereby in proper angular relationship with the drive means presented by said storage socket for effecting a tool interchange; a tool change mechanism including tool engaging grips operable to grip tools respectively carried within said predeterminately positioned sockets and being movable to effect an interchange of tools therebetween; and third power drive means connected to actuate said tool change mechanism.
 21. In a tool change mechanism for a machine tool; a storage member and a tool spindle carried for relative bodily movement; a pair of tool receiving sockets presented by said member and said spindle respectively for movement therewith to predetermined spaced positions to facilitate a tool change therebetween; a tool changer and a pair of power actuated tool grips carried thereby, said changer and said grips being coordinately operative to effect an interchange of tools between said predeterminately positioned sockets; separate power operable means respectively connected to actuate said changer and said grips; and control means connected to actuate said power operable means for interchanging tools between said predeterminately positioned sockets.
 22. In a machine tool; a pair of tool receiving supports carried for relative bodily movement, said tool supports comprising a rotatable tool spindle and a tool storage member; a tool change mechanism and a pair of power actuated tool grips carried thereby and being operative to effect an interchange of tools between said supports; first power drive means connected to effect relative bodily movement of said supports to predetermined positions for interchanging tools therebetween; and second power drive means connected to effect coordinatEd power actuation of said mechanism and said grips for effecting an interchange of tools between said predeterminately positioned tool supports.
 23. In a tool change mechanism; a pair of tool receiving supports respectively presenting positive tool interengaging drive means and being carried for relative bodily movement, said supports comprising a rotatable tool spindle and a tool storage member; first power drive means connected to effect relative bodily movement of said supports to predetermined spaced apart positions with the interengaging drive means properly aligned to effect a tool interchange therebetween; a pair of tools respectively presenting interengaging drive means releasably engaged with the tool interengaging drive means presented by said supports; a tool change mechanism including tool grips operative to effect an interchange of tools between said supports; and power drive means for actuating said mechanism and said grips.
 24. In a machine tool; a pair of tool receiving supports comprising a tool spindle and a tool storage member carried for relative bodily movement, said tool supports respectively presenting disengageable positive drive means; a pair of tools presenting like positive drive means and being releasably carried by said supports with the positive drive means presented by said tools in positive intermeshing engagement with the positive drive means respectively presented by said supports; power drive means connected to effect relative bodily movement of said supports for moving the tools carried thereby to positions for interchanging tools therebetween and with the positive drive means presented by said supports in predetermined angular relationship; and a power actuatable tool change mechanism operatively interconnected to bodily interchange said tools between said supports.
 25. In a machine tool; a tool change mechanism comprising a housing carried for bodily tool changing movement; a pair of retracted tool change grips operatively carried within said housing for selectively extensible gripping movement; a pair of tool receiving supports; power drive means connected to move said supports into predetermined spaced positions relative to said housing for facilitating a tool change between said supports; second power drive means operatively connected to extend said grips into clamping engagement with tools carried by said predeterminately positioned supports; and third power operable means connected to move said housing for interchanging tools between said predeterminately positioned supports.
 26. In a machine tool; tool storage means and a relatively movable tool receiving spindle; first power driven means connected to effect relative positioning movement of said storage means and said spindle for effecting an interchange of tools therebetween; a bodily movable tool transfer mechanism operatively movable for selectively interchanging tools between said spindle and said storage member; a power actuated tool securing grip carried by said mechanism; and a second power drive connected to move said transfer mechanism and including means for actuating said grip into releasable clamped engagement with a tool as a prerequisite to initiating a tool interchange.
 27. In combination with a machine tool having; a rotatable tool support member for performing machining operations; a relatively movable tool storage member; means connected to move said members for positioning tools respectively carried thereby to a tool change ready station; and a power driven bodily movable tool change member including an extensible tool grip coordinately operative therewith for bodily transferring a tool between said members at said ready station.
 28. In a machine tool having a rotatable tool spindle and a tool storage member respectively provided with tool receiving sockets; a movable tool change mechanism incluDing a selectively actuatable tool grip carried for bodily extensible movement into gripping engagement with a tool; and, power operable control means connected to actuate said tool change mechanism for effecting extensible movement of said grip into gripping engagement with a tool to bodily transfer a tool between the tool receiving sockets presented by said spindle and said storage member.
 29. In a machine tool; a rotatable tool spindle provided with a tool receiving socket and a plurality of spaced apart abutment faces comprising positive tool engaging drive means; tool storage means; a tool releasably carried by said storage means presenting positive drive means comprising a plurality of abutment faces complementary to said abutment faces presented by said spindle; and, a relatively movable power driven tool change mechanism operative to remove a tool from said storage means and bodily insert it into the spindle socket with the positive drive abutment faces respectively presented by said spindle and the inserted tool moved into intermeshing driving engagement.
 30. In a machine tool; a power driven rotatable tool receiving spindle presenting a tool engaging key; selectively operable power actuated tool securing means adapted to retain a tool having a complementary keyway in positive driving engagement with the key presented by said spindle; power driven positioning means adapted to effect angular positioning movement of said spindle for facilitating intermshing engagement of the spindle key with a keyway carried by a tool adapted to be automatically inserted therein; a relatively movable power driven tool change mechanism for transferring a tool provided with a keyway complementary to the spindle key; power drive means connected to operate said tool change mechanism for moving the tool carried thereby into engagement with said spindle in a manner that the keyway in the tool intermeshingly engages the key presented by the spindle; and, means for actuating said tool securing means for retaining the tool in intermeshing positive driving engagement with said spindle.
 31. In a machine tool; a rotatable tool receiving spindle presenting positive tool engaging drive means; relatively movable tool storage means including a tool carried thereby presenting complementary positive drive means releasably engageable with the positive drive means presented by said spindle; positioning drive means connected to effect relative positioning movement between said storage means and said spindle for moving a tool carried by said storage means into a predetermined position relative to said tool receiving spindle; tool engaging gripping means carried for movement relative to said spindle and said storage means and being movable into gripping engagement with a predeterminately positioned tool carried by said storage means; and, power drive means connected to operate said tool engaging gripping means for bodily moving a predeterminately positioned tool carried by said storage means into receiving engagement with said spindle and in the manner that the positive drive means presented by said spindle intermeshingly engage the complementary positive drive means presented by the tool.
 32. In a machine tool; a rotatable tool receiving spindle presenting positive tool engaging drive means; relatively movable tool storage means including a tool carried thereby presenting complementary positive drive means releasably engageable with the positive drive means presented by said spindle; power drive means connected to effect relative movement between said storage means and said spindle for moving a tool carried by said storage means into a predetermined position relative to said tool receiving spindle; spindle drive means connected to rotate said spindle to a predetermined angular position to facilitate proper intermeshing engagement of the positive drive means presented thereby with the complemenTary positive drive means presented by the predeterminately positioned tool carried by said storage means; tool engaging gripping means carried for movement relative to said spindle and said storage means and being movable into gripping engagement with a predeterminately positioned tool carried by said storage means; and, power drive means connected to operate said tool engaging gripping means for bodily moving a predeterminately positioned tool carried by said storage means into receiving engagement with said spindle and in a manner that the positive drive means presented thereby intermeshingly engage the complementary positive drive means presented by the tool.
 33. A machine tool comprising a tool spindle; magazine means for supporting discrete tool devices of a plurality of tool devices in a predetermined angular position; means for sequentially transferring selected devices of said plurality of tool devices in said magazine means to said tool spindle; means for rotating said tool spindle and a selected tool device transferred thereto; means for stopping said tool spindle in the same predetermined angular position upon discontinuation of its rotation; and means for returning the tool devices in said tool spindle to said magazine means in said predetermined angular position in which said tool device was previously supported therein.
 34. A tool changing apparatus for a machine having a work mounting element and a tool spindle adapted to mount a cutting tool, said tool changing apparatus comprising; a tool storage matrix mounted adjacent said machine and adapted to selectively releasably support a plurality of cutting tools, said tools being adapted to be mounted interchangeably in said tool spindle; a tool change arm mounted between said tool spindle and a tool storage matrix, said tool change arm being movable relative to said spindle and said tool storage matrix to engage and withdraw selected cutting tools from said tool storage matrix and transfer the selected tool to a position adjacent the spindle and to mount the tool in said spindle; relatively movable portions of said tool change arm including a carrier support; a jaw carrier having retracted and extended positions with respect to said carrier support; and a tool clamping jaw movably mounted on said jaw carrier for moving from an open position to a closed position for engaging a tool to said jaw carrier when said jaw carrier is in the extended position; and, means for actuating said jaw carrier and clamping jaw to engage the selected tool and secure it to said tool change arm so that the tool may be transferred.
 35. In a machine tool; tool storage means and a relatively movable tool receiving spindle; a tool transfer mechanism operatively movable for selectively interchanging tools between said spindle and said storage member; a tool securing grip carried by said mechanism; and, a power drive connected to move said transfer mechanism and including means for actuating said grip into releasable clamped engagement with a tool as a prerequisite to initiating a tool interchange.
 36. In a machine tool having a tool storage member and a rotatable tool spindle provided with tool receiving sockets; a movable tool change mechanism including a selectively actuatable tool grip carried for bodily extensible movement and to effect gripping engagement with a tool; and, power means connected to actuate said tool change mechanism for effecting extensible movement and gripping engagement of said grip with a tool and bodily transfer of the gripped tool between the tool receiving sockets presented by said spindle and said storage member.
 37. A machine tool comprising; a tool spindle; means for stopping said tool spindle in the same predetermined angular position upon every discontinuation of its rotation; magazine means for supporting discrete tool devices of a plurality of tool devices in a predetermined angulAr position; and means for transferring selected devices of said plurality of tool devices in said magazine means to said tool spindle and returning the tool devices in said tool spindle to said magazine means in the same predetermined angular position in which said tool device was previously supported therein. 